From 9a054876ff1320a2788aee417a64a98d7352fea6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 25 Sep 2023 18:16:34 +1000
Subject: [PATCH] AP_Compass: use AP_GPS_ENABLED to exclude more code when GPS
 not compiled in

---
 libraries/AP_Compass/AP_Compass_Calibration.cpp | 3 +++
 libraries/AP_Compass/AP_Compass_config.h        | 5 +++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_Compass/AP_Compass_Calibration.cpp b/libraries/AP_Compass/AP_Compass_Calibration.cpp
index d12b77ba83..8d70f24c66 100644
--- a/libraries/AP_Compass/AP_Compass_Calibration.cpp
+++ b/libraries/AP_Compass/AP_Compass_Calibration.cpp
@@ -453,6 +453,7 @@ MAV_RESULT Compass::handle_mag_cal_command(const mavlink_command_int_t &packet)
 
 #endif // COMPASS_CAL_ENABLED
 
+#if AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
 /*
   get mag field with the effects of offsets, diagonals and
   off-diagonals removed
@@ -573,3 +574,5 @@ MAV_RESULT Compass::mag_cal_fixed_yaw(float yaw_deg, uint8_t compass_mask,
 
     return MAV_RESULT_ACCEPTED;
 }
+
+#endif  // AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 9d77843b09..6bb8153b58 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -4,6 +4,7 @@
 #include <AP_ExternalAHRS/AP_ExternalAHRS_config.h>
 #include <AP_MSP/msp.h>
 #include <AP_AHRS/AP_AHRS_config.h>
+#include <AP_GPS/AP_GPS_config.h>
 
 #ifndef AP_COMPASS_ENABLED
 #define AP_COMPASS_ENABLED 1
@@ -17,6 +18,10 @@
 #define COMPASS_CAL_ENABLED AP_COMPASS_ENABLED && AP_AHRS_DCM_ENABLED
 #endif
 
+#ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_GPS_ENABLED
+#endif
+
 #define COMPASS_MAX_SCALE_FACTOR 1.5
 #define COMPASS_MIN_SCALE_FACTOR (1.0/COMPASS_MAX_SCALE_FACTOR)